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Apartment sink model is inaccurate in URDF #100

Description

@daniel86

The sink components are not appropriately modeled:

  • tap has as parent side_B, it should be sink
  • there is a rotational joint between tap and sink (the tap can be rotated)
  • the tap has a handle component, there is a joint between handle and tap
  • the parent of sink is side_B. should it be island_countertop instead?

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